Related papers: LiDAR Loop Closure Detection using Semantic Graphs…
State-of-the-art approaches for the semantic labeling of LiDAR point clouds heavily rely on the use of deep Convolutional Neural Networks (CNNs). However, transferring network architectures across different LiDAR sensor types represents a…
Multi-label image and video classification are fundamental yet challenging tasks in computer vision. The main challenges lie in capturing spatial or temporal dependencies between labels and discovering the locations of discriminative…
Semantic segmentation of LiDAR point clouds has been widely studied in recent years, with most existing methods focusing on tackling this task using a single scan of the environment. However, leveraging the temporal stream of observations…
Mobile robots and autonomous vehicles rely on multi-modal sensor setups to perceive and understand their surroundings. Aside from cameras, LiDAR sensors represent a central component of state-of-the-art perception systems. In addition to…
Geometric navigation is nowadays a well-established field of robotics and the research focus is shifting towards higher-level scene understanding, such as Semantic Mapping. When a robot needs to interact with its environment, it must be…
The integration of a SLAM algorithm with place recognition technology empowers it with the ability to mitigate accumulated errors and to relocalize itself. However, existing methods for point cloud-based place recognition predominantly rely…
Semantic segmentation of LiDAR data presents considerable challenges, particularly when dealing with diverse sensor types and configurations. However, incorporating semantic information can significantly enhance the accuracy and robustness…
Visual Simultaneous Localization and Mapping (vSLAM) is a widely used technique in robotics and computer vision that enables a robot to create a map of an unfamiliar environment using a camera sensor while simultaneously tracking its…
Although frame-based models, such as CTC and transducers, have an affinity for streaming automatic speech recognition, their decoding uses no future knowledge, which could lead to incorrect pruning. Conversely, label-based attention…
Location-based alerts have gained increasing popularity in recent years, whether in the context of healthcare (e.g., COVID-19 contact tracing), marketing (e.g., location-based advertising), or public safety. However, serious privacy…
In complex environments, low-cost and robust localization is a challenging problem. For example, in a GPSdenied environment, LiDAR can provide accurate position information, but the cost is high. In general, visual SLAM based localization…
This paper presents a fully unsupervised deep change detection approach for mobile robots with 3D LiDAR. In unstructured environments, it is infeasible to define a closed set of semantic classes. Instead, semantic segmentation is…
Place recognition plays a crucial role in re-localization and loop closure detection tasks for robots and vehicles. This paper seeks a well-defined global descriptor for LiDAR-based place recognition. Compared to local descriptors, global…
In this paper, we consider the transformation of laser range measurements into a top-view grid map representation to approach the task of LiDAR-only semantic segmentation. Since the recent publication of the SemanticKITTI data set,…
We propose a novel low-complexity lidar gesture recognition system for mobile robot control robust to gesture variation. Our system uses a modular approach, consisting of a pose estimation module and a gesture classifier. Pose estimates are…
In this paper, we introduces a new type of line-shaped image representation, named semantic line segment (Sem-LS) and focus on solving its detection problem. Sem-LS contains high-level semantics and is a compact scene representation where…
Accurate and fast scene understanding is one of the challenging task for autonomous driving, which requires to take full advantage of LiDAR point clouds for semantic segmentation. In this paper, we present a \textbf{concise} and…
Simultaneous Localization and Mapping (SLAM) is an essential component of autonomous robotic applications and self-driving vehicles, enabling them to understand and operate in their environment. Many SLAM systems have been proposed in the…
Traffic forecasting is a significant part of intelligent transportation systems. One of the critical challenges of traffic forecasting is to find spatio-temporal correlations. In recent years, graph convolutional networks and graph…
Narrowing the performance gap between optimal and feasible detection in inter-symbol interference (ISI) channels, this paper proposes to use graph neural networks (GNNs) for detection that can also be used to perform joint detection and…